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<pre><span class="sourceLineNo">001</span>package frc3128.HardwareLink.Motor;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import frc3128.EventManager.Event;<a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span>/**<a name="line.5"></a>
<span class="sourceLineNo">006</span> *<a name="line.6"></a>
<span class="sourceLineNo">007</span> * @author Noah Sutton-Smolin<a name="line.7"></a>
<span class="sourceLineNo">008</span> */<a name="line.8"></a>
<span class="sourceLineNo">009</span>public abstract class MotorSpeedControl extends Event {<a name="line.9"></a>
<span class="sourceLineNo">010</span>    private long lastRuntime = -1;<a name="line.10"></a>
<span class="sourceLineNo">011</span>    private MotorLink controlledMotor = null;<a name="line.11"></a>
<span class="sourceLineNo">012</span>    <a name="line.12"></a>
<span class="sourceLineNo">013</span>    public MotorSpeedControl() {}<a name="line.13"></a>
<span class="sourceLineNo">014</span>    protected void setControlledMotor(MotorLink m) {controlledMotor = m;}<a name="line.14"></a>
<span class="sourceLineNo">015</span>    <a name="line.15"></a>
<span class="sourceLineNo">016</span>    public abstract void    setControlTarget(double val);<a name="line.16"></a>
<span class="sourceLineNo">017</span>    public abstract double  speedTimestep(double dt);<a name="line.17"></a>
<span class="sourceLineNo">018</span>    public abstract void    clearControlRun();<a name="line.18"></a>
<span class="sourceLineNo">019</span>    public abstract boolean isComplete();<a name="line.19"></a>
<span class="sourceLineNo">020</span>    <a name="line.20"></a>
<span class="sourceLineNo">021</span>    /**<a name="line.21"></a>
<span class="sourceLineNo">022</span>     * <a name="line.22"></a>
<span class="sourceLineNo">023</span>     * @return the last runtime in system clock milliseconds<a name="line.23"></a>
<span class="sourceLineNo">024</span>     */<a name="line.24"></a>
<span class="sourceLineNo">025</span>    public final long getLastRuntime() {return lastRuntime;}<a name="line.25"></a>
<span class="sourceLineNo">026</span>    <a name="line.26"></a>
<span class="sourceLineNo">027</span>    /**<a name="line.27"></a>
<span class="sourceLineNo">028</span>     * <a name="line.28"></a>
<span class="sourceLineNo">029</span>     * @return how long ago the event was last called (used for dT)<a name="line.29"></a>
<span class="sourceLineNo">030</span>     */<a name="line.30"></a>
<span class="sourceLineNo">031</span>    public final long getLastRuntimeDist() {return System.currentTimeMillis() - lastRuntime;}<a name="line.31"></a>
<span class="sourceLineNo">032</span><a name="line.32"></a>
<span class="sourceLineNo">033</span>    /**<a name="line.33"></a>
<span class="sourceLineNo">034</span>     * <a name="line.34"></a>
<span class="sourceLineNo">035</span>     * @return the encoder value of the controlled motor<a name="line.35"></a>
<span class="sourceLineNo">036</span>     */<a name="line.36"></a>
<span class="sourceLineNo">037</span>    public double getLinkedEncoderAngle() {return this.controlledMotor.getEncoderAngle();}<a name="line.37"></a>
<span class="sourceLineNo">038</span><a name="line.38"></a>
<span class="sourceLineNo">039</span>    /**<a name="line.39"></a>
<span class="sourceLineNo">040</span>     * <a name="line.40"></a>
<span class="sourceLineNo">041</span>     * @return the linked motor's speed<a name="line.41"></a>
<span class="sourceLineNo">042</span>     */<a name="line.42"></a>
<span class="sourceLineNo">043</span>    public double getLinkedMotorSpeed() {return this.controlledMotor.getSpeed();}<a name="line.43"></a>
<span class="sourceLineNo">044</span>    <a name="line.44"></a>
<span class="sourceLineNo">045</span>    public final void execute() {<a name="line.45"></a>
<span class="sourceLineNo">046</span>        lastRuntime = System.currentTimeMillis();<a name="line.46"></a>
<span class="sourceLineNo">047</span>        this.controlledMotor.setSpeedControlled(this.speedTimestep(this.getLastRuntimeDist()/1000.0));<a name="line.47"></a>
<span class="sourceLineNo">048</span>        if(this.isComplete()) this.controlledMotor.deleteSpeedControl();<a name="line.48"></a>
<span class="sourceLineNo">049</span>    }<a name="line.49"></a>
<span class="sourceLineNo">050</span>}<a name="line.50"></a>




























































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